Added method to query for current control modes: allows to initialize...

Added method to query for current control modes: allows to initialize KinemticGuiPlugin with actual control values

source/RobotAPI/components/units/KinematicUnitSimulation.cpp

@@ -270,6 +270,16 @@ void KinematicUnitSimulation::setJointTorques(const NameValueMap& targetJointTor
         listenerPrx->reportJointTorques(actualJointTorques, aValueChanged);
 }
 
+NameControlModeMap KinematicUnitSimulation::getControlModes(const Ice::Current& c)
+{
+    NameControlModeMap result;
+    for ( KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
+    {
+        result[it->first] = it->second.controlMode;
+    }
+    return result;
+}
+
 void KinematicUnitSimulation::setJointAccelerations(const NameValueMap& targetJointAccelerations, const Ice::Current& c)
 {
 }

source/RobotAPI/components/units/KinematicUnitSimulation.h

@@ -140,6 +140,8 @@ namespace armarx
         virtual void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = ::Ice::Current());
         virtual void setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c = ::Ice::Current());
 
+        virtual NameControlModeMap getControlModes(const Ice::Current& c = ::Ice::Current());
+
         /**
          * \warning Not implemented yet!
          */

source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

@@ -146,6 +146,10 @@ void KinematicUnitWidgetController::onConnectComponent()
     std::string kinematicUnitInstructionChannel = kinematicUnitName;
     // NOW: kinematicUnitInstructionChannel -> HeadKinematicUnit
     kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitInstructionChannel);
+
+    // init control mode map
+    reportedJointControlModes = kinematicUnitInterfacePrx->getControlModes();
+
     initializeUi();
     enableMainWidgetAsync(true);
 }

source/RobotAPI/interface/units/KinematicUnitInterface.ice

@@ -171,6 +171,12 @@ module armarx
         void setJointAccelerations(NameValueMap targetJointAccelerations) throws OutOfRangeException;
         void setJointDecelerations(NameValueMap targetJointDecelerations) throws OutOfRangeException;
         
+        /*!
+         * Returns the current control mode setup of all joints.
+         * @return List with current control modes
+         */
+        NameControlModeMap getControlModes();
+
         /*
          * NYI
          */